Viewing page 175 of 250

This transcription has been completed. Contact us with corrections.

• simulation of forward / backdrive flag in Simfac: they compare the motor torque to the sign bit (they've simplified/changed implementation) - instead of hardware comparison of current to sign bit. Flat floor data should be available (ST. 223 will be changed  to include investigation of malfs - bad data parts can be put in)

• 1st night "check out" & warm-up. Runs only with unloaded consistency check parameters. 

① single cradle/uncradle. Full scale coarse, vernier cmds; pulse; reverse direction; switch from v/c w/  cmd in. No false alarms. (Looked good in single)

② Manual modes. Full scale THC/RHC; reverse directions; T&C (mild); c/v switching mid-stream. No alarms. Move in SY + WY singularity regions (for several minutes) - "wild" cmds w/in those regions, no alarms (hit WP limit many times w/WY near 90°)

Operated near/in EP singularity & soft/stop. No alarms.

③ preliminary look at a few of the malfs. Joint fails free.... alarms on SP, SY, (&(EP when cmd is removed) not on WP, Y, R (not enough inertia unloaded?)